Flexible mechanical arm based on tape spring and provided with connecting rod type arm steering module

Abstract

The flexible mechanical arm comprises a mechanical arm body and a steering mechanism, the mechanical arm body comprises a bearing platform, an unfolding and folding module and the measuring tape spring, the bearing platform is connected with the measuring tape spring through the unfolding and folding module, and the measuring tape spring is connected with the mechanical arm through the steering mechanism. The mechanical arm can extend by a certain distance or retract to a specified position by extending and retracting the tape spring; the steering mechanism is composed of a node module and an orientation module installed on the node module and used for changing a certain angle between a bending node of the mechanical arm and the bending mechanical arm, and the mechanical arm body and the steering mechanism are combined, so that the mechanical arm can quickly reach a designated position, and the grabbing, carrying or control functions are achieved. According to the flexible mechanical arm, the flexible mechanical arm can automatically extend or shorten by a certain distance, meanwhile, the steering mechanism is assembled on the mechanical arm body, and the working requirement that the mechanical arm body rotates by a certain angle to reach the designated position can be met.

Description

Technical Field

[0001] The present invention relates to a flexible mechanical arm, and in particular to a single V-shaped multi-degree-of-freedom steerable mechanical arm device which can be used for equipment such as unmanned aerial vehicles and is based on a tape measure spring and has a connecting rod type inter-arm steering module. Background Art

[0002] "Low-altitude economy" refers to a comprehensive economic form that is mainly based on civil manned and unmanned aircraft, driven by various low-altitude flight activities such as transporting goods, reconnaissance of the environment, and checking equipment failures, and radiates and drives the integrated development of other related fields. Thanks to its advantages such as breaking the restrictions of traditional ground transportation and providing a new dimension for urban transportation, the low-altitude economy is considered to be one of the main directions of future economic development. Among them, unmanned aerial vehicles are the top priority.

[0003] With the development of modern science and technology, drones are expanding into wider fields and playing an increasingly important role in many fields. So far, drones have been used in many scenarios. For example, after disasters such as earthquakes, drones are used to conduct search and rescue missions in dangerous environments; to inspect equipment working at high altitudes, etc. The traditional single drone application has been relatively complete. In order to further expand the application scope of drones, combining robotic arms with drones and improving the "active" working ability of drones have become the main direction of further research. A robotic arm is a device used to move objects over medium and short distances, and can complete a variety of tasks such as grasping, carrying or operating. The combination of the two can complete more complex tasks, such as directly repairing faulty equipment at high altitudes or in the ocean. However, the movement of drones combined with robotic arms is still subject to many restrictions, such as the drone's own load, the weight of the robotic arm, and work efficiency.

[0004] On June 4, 2024, the State Grid Xinle Power Supply Company used the "drone + robotic arm" obstacle removal method to successfully remove the plastic film hanging on the 10 kV line in a live environment. Compared with traditional manual work, this method can quickly reach the designated work area to complete the task and avoid the potential risk of personal injury. However, in this work, the work tasks are mainly completed by remotely controlling the drone by the staff to change the drone's posture. Assuming that small objects need to be picked up, working in a narrow gap environment or multiple turns are required, a single drone operation cannot achieve the work goal well, so there is still a need for a robotic arm that can work actively, retract and complete turns in a confined environment.

[0005] Chinese patent document CN220741227U proposes a wire-driven flexible robotic arm, which can mainly complete tasks in confined environments and unstructured spatial structures, and can also control the rotation of joints to control the device to complete the task. However, when facing a specified task, the device needs to adjust the joints in advance according to the target, and it cannot guarantee that the device can actively and adaptively complete the work target.

[0006] Chinese patent document CN220994519U proposes a gas-liquid reversible flexible robotic arm, which uses gas-liquid reversible conversion drive to achieve multi-degree-of-freedom bending deformation and posture control. The device is mainly composed of multiple flexible joints connected in series, and its shell skeleton ensures the stability of the device, but the movement of this structure is greatly restricted and it is easy to damage the fuselage in a narrow space.

[0007] The Chinese patent document CN110480614A proposes a two-degree-of-freedom parallel retractable robotic arm based on a tape measure spring. The design can mainly complete the task of grasping the target object and realize telescopic and left-right translation movement. It has the advantages of simple structure, low mass, and large deployability. However, the equipment does not have functions such as steering. Summary of the invention

[0008] In order to solve the problems of poor flexibility and limited range of motion of traditional mechanical arms in complex environments, the present invention provides a flexible mechanical arm with a connecting rod type inter-arm steering module based on a tape measure spring, adopts the design concept of a flexible mechanical arm with contraction function and steering function, and the design of the flexible mechanical arm adopts a modular concept, that is, its main part is mainly composed of a bearing platform, an extension and retraction module, a connecting rod type inter-arm steering module and a tape measure spring. The purpose of the present invention is to design a flexible mechanical arm that can autonomously extend or shorten a certain distance, and at the same time assemble a steering mechanism on the main body of the mechanical arm to achieve the working requirement of rotating a certain angle to reach a specified position.

[0009] To achieve the above object, the present invention adopts the following technical solutions: A flexible robotic arm based on a tape measure spring and having a connecting rod type inter-arm steering module comprises a robotic arm body and a steering mechanism. The robotic arm body comprises a load-bearing platform, an extension and retraction module and a tape measure spring. The load-bearing platform is connected with the tape measure spring via the extension and retraction module, and the tape measure spring is connected with the robotic arm via the steering mechanism. By extending and contracting the tape measure spring, the robotic arm can be extended a certain distance or contracted to a specified position. The steering mechanism consists of a node module and a directional module installed on the node module, and is used to change the bending node of the robotic arm and the bending robotic arm to a certain angle. By combining the robotic arm body and the steering mechanism, the robotic arm can quickly reach the specified position to realize the functions of grasping, carrying or manipulating.

[0010] Furthermore, the directional module consists of a connecting rod and a connecting frame, which is used to control the tape spring to turn in a specified direction; wherein the two ends of the connecting rod are respectively connected to one side of the node and the corresponding side of the connecting frame; the connecting frame is an "H" structure, and the tape spring passes through holes opened at both ends.

[0011] Furthermore, the "H" structure of the connecting frame adopts an H-shaped sleeve, and the outer extensions of the two ends of the H-shaped sleeve are respectively connected to four connecting rods by bolts. A connecting rod is installed at both ends of each node module. In the vertical plane, the node module, the connecting rod and the H-shaped sleeve form a parallelogram connecting rod structure frame. When the node module moves, the connecting rod and the H-shaped sleeve also move accordingly.

[0012] Furthermore, the node module and the directional modules in the steering mechanism connect the nodes on both sides of the tape spring together to form a "parallelogram" connecting rod frame; by controlling the nodes on both sides to move in different directions, a position difference is formed, so that the connecting frame and the connecting rod rotate, thereby controlling the robotic arm to steer.

[0013] Furthermore, the node module is composed of a roller, a node motor, a roller shaft, a node frame, a driving gear, and a driven gear, wherein two rollers are arranged inside the node frame, the two rollers are respectively connected to the driving gear and the driven gear through their respective roller shafts, the node motor is connected to the driving gear, the driving gear is meshed and connected to the driven gear, and the tape spring passes through the middle of the two rollers in the node frame and forms a plane at their contact surface.

[0014] Furthermore, an auxiliary compression mechanism, an active extension mechanism, a storage bin, a block mechanism and a tape measure spring are respectively provided on the bearing platform of the robot arm body from back to front. The auxiliary compression mechanism and the active extension mechanism are fixed on the bearing platform. One end of the tape measure spring is fixed on the belt end block, and the other end is fixed in the storage bin after passing through the roller of the active extension mechanism and the rotating drum of the auxiliary compression mechanism.

[0015] Furthermore, the active extension mechanism is composed of a motor, gears, shafts and rollers, wherein the motor is connected to two rollers through gears and shafts, and the friction force of the tape spring is squeezed by the two rollers to control the tape spring to roll out freely in one direction, either the upper end or the lower end.

[0016] Furthermore, the auxiliary compression mechanism is composed of a coupling plate, a motor, a bearing seat, a steel belt drum and a rotating shaft, wherein the motor and the bearing seat are installed on the storage bin, the motor is connected to the steel belt drum and the coupling plate through the rotating shaft, and the coupling plate installs the steel belt drum on the rotating end surface; when the robotic arm needs to be retracted, the auxiliary compression mechanism provides additional pulling force, while ensuring that the tape measure spring can be retracted around the drum.

[0017] Furthermore, the block mechanism includes a belt end block and an extended end block, wherein the belt segment block is a square mechanism for fixing the end of the tape measure spring in a specific area of ​​the storage bin; the extended end block is an irregular mechanism with an extended end, in which an elliptical hole is opened; the extended end block is installed at the extended end of the storage bin, and the tape measure spring is located in the center hole and enters the storage bin through the reel.

[0018] Furthermore, the tape measure spring is an irregular elliptical structure, and a steel ruler made of steel is made into a component, with some materials filled in the middle to ensure the bendability of the steel ruler. The tape measure spring can be compressed in the roll silo inside the main body of the robotic arm.

[0019] The technical solution proposed by the present invention has achieved the following technical effects compared with the prior art: (1) The predetermined gears and shafts are used to drive the drum to rotate and press the tape spring out of the storage bin. In addition, the tape spring is pressed tightly against the middle of the drum and forms a plane at the extrusion point, which ensures the stability of the movement of the robotic arm. The overall structure is simple and centralized. The robotic arm occupies a small volume after contraction, ensuring that the overall mechanism is light in weight and has a large expansion / contraction ratio. It can be carried in the designated area of ​​the drone to complete tasks such as grasping, carrying or manipulating.

[0020] (2) The nodes on both sides of the V-shaped tape spring are connected together through a customized connecting frame and connecting rod to form a "parallelogram" connecting rod frame. The nodes on both sides are controlled to move in different directions to form a position difference, which causes the connecting frame and connecting rod to rotate, and further controls the robot arm to turn. In addition, the tape spring passes through the connecting frame and the middle two end points of the node reel. This structure ensures the stability of the robot arm's steering and ensures that the robot arm can turn quickly.

[0021] (3) The node with a gear-driven rotating roller provided by the present invention is not fixed at a certain position of the robot arm, but can move freely up and down along the robot arm. When the nodes on both sides move in a certain direction together, the tape spring will not be displaced, and its steering node changes position as the node moves, ensuring the good movement ability of the robot arm and improving the adaptive ability of the robot arm, that is, there is no need to preset the node position in advance according to the work target. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The arrangement scheme of the flexible mechanical arm of the present invention on the UAV; Figure 2 It is an axonometric diagram of the flexible mechanical arm of the present invention in a steering state; Figure 3 The flexible mechanical arm of the present invention is divided into modules; Figure 4 It is an axonometric diagram of the main structure of the flexible mechanical arm of the present invention in a normal state; Figure 5 An exploded view of a storage bin and an extension module in the flexible robotic arm of the present invention; Figure 6 It is an axonometric view of the steering device in the flexible mechanical arm of the present invention; Figure 7 An exploded view of a node, which is a key component of the flexible mechanical arm of the present invention; Figure 8 is a cross-sectional view of a node component of a flexible mechanical arm of the present invention; The following is a description of the markings in the accompanying drawings: 1—tape measure spring, 2—connecting rod, 3—node device, 4—belt end stopper, 5—bearing seat, 6—steel belt drum, 7—steel belt drum drive motor, 8—extension device motor, 9—storage bin, 10—extended end stopper, 11—H-type sleeve, 12—extension module, 13—link type inter-arm steering module, 14—driving gear, 15—driven gear, 16—drum, 17—node motor, 18—drum shaft, 19—node frame. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. All other embodiments obtained by ordinary technicians in the field without making creative work based on the embodiments of the present invention shall fall within the scope of protection of the present invention.

[0024] The main function of the present invention is to extend to a designated position and restore to its original state after completing the target task. Its general principle is similar to that of a rope-driven robotic arm, but the difference is that the present invention mainly uses a tape spring, which uses the bendability of a specific tape spring mechanism to achieve the contraction and bending of the entire mechanism.

[0025] According to the above description, the single V-shaped multi-degree-of-freedom steerable mechanical arm based on a tape measure spring designed by the present invention is mainly composed of two parts: a mechanical arm body and a steering mechanism. The mechanical arm body includes three modules: a bearing platform, an extension and retraction module, and a tape measure spring. It has two functions of extension and contraction, so that the mechanical arm can be extended a certain distance or contracted to a specified position; the steering mechanism is composed of a node module and a directional module, and its main function is to change the bending node of the mechanical arm and bend the mechanical arm to a certain angle. Through the combination of the mechanical arm body and the steering mechanism, the mechanical arm can quickly reach the specified position and realize functions such as grasping, carrying or manipulating.

[0026] The purpose of the present invention is to design a mechanical arm device that can stretch, retract and change its own direction, so as to solve the problems existing in the above-mentioned prior art. The device changes the position of the nodes on both sides of the V-shaped tape measure spring, thereby changing the rotation state of the mechanical arm. When the nodes on both sides move upward at the same time, the nodes for the mechanical arm to turn also move accordingly. Then, when the nodes on both sides move in different directions, the support points of the tape measure have displacement errors on a certain plane, and the mechanical arm can realize the steering function by relying on the parallelogram-like linkage mechanism formed by the nodes and the H-shaped sleeve. At the same time, when the mechanical arm is not extended long enough, the device controls the tape measure to extend outward through the friction force of the roller squeezing the tape measure in the extension module, thereby expanding the working range of the mechanical arm. Finally, when the mechanical arm finishes work and needs to return to normal, the steel ruler drum in the storage bin rotates to ensure that the tape measure spring can be stably stored in the storage bin.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Under normal conditions, the device can store the tape spring in the specified storage bin to ensure that the device occupies a small space. At the same time, under extreme working conditions (i.e. the robot arm does not turn and stretches forward as far as possible), the device can achieve an arm span of about 2m. When the position of the node on the robot arm changes, the robot arm is controlled to turn, and the robot arm can work within a space with a radius of 2m.

[0029] Figure 1 The figure shows one of the layout schemes: the combination of the robotic arm and the drone is one of the main prospects for the future application of the robotic arm. The robotic arm is arranged on the carrying platform under the drone to achieve the required work objectives. The circle in the figure represents the robotic arm designed in the present invention, and the arrow indicates the installation direction, i.e., the position. Due to different work requirements, the installation method of the robotic arm is often different. Usually, the robotic arm is installed on the side of the drone carrying platform to facilitate the operator's operation and ensure the working area of ​​the robotic arm.

[0030] When the drone is in standby or non-operating state, the device designed by the present invention is in the following state: Figure 2 , 3 shows the state: the tape spring 1 is stored in the storage bin 9 around the steel belt drum 6, and each node device 3 in the connecting rod type inter-arm steering module 13 is parallel to the H-shaped sleeve 11 in the vertical plane and close to the extended end block 10 of the storage bin 9. At this time, the drone occupies a small space. When the drone needs to work, the tape spring 1 extends outward along the rotation direction of the steel belt drum 6, and drives the connecting rod type inter-arm steering module 13 to control the steering of the mechanical arm according to the working target.

[0031] The mechanical arm device of the present invention needs to adjust the steering angle through the connecting rod type inter-arm steering module 13, and the extension component 12 adjusts the working length of the device. Figure 3 It can be seen that the overall mechanism is in a normal state, the tape spring 1 is set to be V-shaped, one end is fixed to the belt end stopper 4, and the other end is restricted by the protruding end stopper 10. At the same time, the two node devices 3 are arranged on both sides of the V-shaped structure of the tape spring 1 and are parallel to the horizontal plane, and the H-shaped sleeve 11 is kept parallel to the node device 3. Figure 2 It can be seen that the working principle of the device in the rotating state is that the node device 3 originally relatively horizontal moves relative to each other in the vertical plane, such as the left device moves upward along the tape spring 1, and the other device moves in the opposite direction. At the same time, the H-shaped sleeve 11 rotates because it is connected to the node through four connecting rods 2, thereby driving the tape spring at the lower end to turn. Figure 5 It is an exploded view of the storage bin and the extension module. The passive extension and retraction mechanism is controlled by the steel belt drum drive motor 7. The steel belt drum drive motor 7 cooperates with the reel shaft to control the rotation of the steel belt drum 6. The steel belt drum drive motor 7 is fixedly installed on the storage bin.

[0032] The active extension and retraction mechanism is controlled by the extension device motor 8. When the device is working, the extended end of the extension device motor 8 rotates, driving the driving gear 14 connected thereto to rotate, and driving the driven gear 15 to rotate. Figure 5 As shown, the roller 16 is connected to the roller shaft 18 by means of a key connection. There is a processed tooth shape on one side of the roller shaft 18, which matches the inner tooth surface of the gear 14 and the gear 15 to form a tight fit. As the stretching device motor 8 drives the active gear 14 and the driven gear 15 to rotate, the roller shaft 18 and the roller 16 connected thereto rotate. Since the active extension and retraction mechanism is equipped with two roller devices, and the tape spring 1 passes through the devices, the extension rate of the tape spring 1 is mainly controlled by the roller 16, that is, the extension device motor 8. When the power of the motor 8 is large, the rotation speed of the reel 16 is large, thereby generating a large friction force, causing the tape spring 1 to pass through the device composed of the two rollers 16 relatively quickly.

[0033] The passive unfolding and retracting mechanism is controlled by the steel belt drum drive motor 7. Figure 4 As shown, the steel belt drum driving motor 7 is fixedly mounted on the storage bin 9. Figure 1 As shown, the bearing seat 5 is fixed at a fixed position on the storage bin 9 by bolts, and a deep groove ball bearing is installed in the middle of the bearing seat 5, and a section of the rotating shaft is fixed thereto. Figure 5The exploded diagram of the mechanism is shown. The coupling plate is fixedly mounted on the rotating end face of the steel belt drum driving motor 7 according to the pre-processed hole position. The coupling plate is connected to the rotating shaft through a key connection. When the motor 7 is working, the coupling plate is driven to rotate, and the rotating shaft connected to it rotates relatively. The steel belt drum 6 is installed on the rotating shaft, and its two ends are limited in displacement by the bearing seat 3 and the inner end face of the storage bin 7 to ensure that the steel belt drum 6 does not have relative displacement. When the active deployment and retraction mechanism extends the mechanical arm outward, the mechanism can passively or actively rotate clockwise to smoothly roll the tape spring 1 out from the steel belt drum 6; when the active deployment and retraction mechanism retracts inward, it alone cannot smoothly collect the tape spring 1 around the steel belt drum 6. At this time, the steel belt drum drive motor 7 works, driving the rotating shaft and the steel belt drum 6 connected thereto to rotate counterclockwise, providing additional pulling force to the recovered tape spring 1, and providing a guiding function to the tape spring 1, ensuring that the tape spring 1 can smoothly rotate along the steel belt drum 6 and be stored in the storage bin 9.

[0034] Furthermore, the steel belt drum 6 is connected to the rotating shaft by a key, and grooves are provided at both ends thereof, so that the weight of the steel belt drum 6 can be reduced. At the same time, the condition of the tape measure spring can be observed, which is convenient for maintenance.

[0035] The node device 3, as shown in 7 and 8, is composed of a roller 16, a node motor 17, a roller shaft 18, a node frame 19, a driving gear 14, and a driven gear 15. Its assembly method is similar to the structural assembly method of the active expansion and contraction mechanism, that is, the node motor 17 is connected to the driving gear 14, the roller shaft 18 is fixed to the driving gear 14 and the driven gear 15 by means of the tooth shape, and the roller 16 and the roller shaft 18 are connected by a key. The various components in the node device 1 are mainly installed on the node frame 19. The step surface of the node motor 17 coincides with one end surface of the node frame 19 and is installed on the node frame 19 by bolts. The tape spring 1 passes through the middle of the two rollers 16 in the node device 3 and forms a plane at its contact surface to ensure the stability of the device. Thanks to this structural feature, the node device 3 can move autonomously along the middle plane of the tape spring 1.

[0036] The connecting rod type inter-arm steering module 13 is mainly composed of a node device 3, a connecting rod 2 and an H-shaped sleeve 11. The connecting rod 2 has holes at both ends, and the holes processed therein are aligned with the corresponding holes of the node device 3 and the H-shaped sleeve 11, and fixed by bolts, and the connecting rod 2 can be rotated with the connection point as a fixed point. The H-shaped sleeve 11 is mainly connected to the four connecting rods 2 by bolts at the extension of both ends, and a connecting rod 2 is installed at both ends of each node device 3. Figure 4It can be seen that on the vertical plane, the node device 3, the connecting rod 2 and the H-shaped sleeve 11 form a parallelogram connecting rod structure frame. When the node device 3 moves, the connecting rod 2 and the H-shaped sleeve 11 also move accordingly. When the device designed by the present invention needs to turn, the node devices 3 on both sides of the V-shaped frame of the tape spring 1 in the connecting rod type inter-arm steering module 13 move in the same direction at the same speed. Since the node device 3 moves in a synchronous state relative to the horizontal plane, the connecting rod 2 and the H-shaped sleeve 11 remain in their original state without deformation. When the connecting rod type inter-arm steering module 13 stops, the roller 16 in the node device 3 squeezes the tape spring 1 to form a plane, namely the steering node. Then, the node devices 3 on both sides move in different directions at the same or different rates. The two node devices 3 are no longer located in the same horizontal plane. From the vertical plane, it can be seen that a position difference has occurred between the two devices. Since the H-shaped sleeve 11 is connected to the node device 3 by the connecting rod 2, the spacing of the node device 3 and the connecting rod 2 remain unchanged, and the H-shaped sleeve 11 is turned with the vertical plane, such as Figure 1 shown.

[0037] In the above embodiment, the gears mainly include a transmission cylindrical gear and a connecting cylindrical gear. The connecting cylindrical gear is connected to the motor extension end and the shaft end respectively at both ends through internal gear teeth, and its external gear teeth are in contact with the transmission gear; the transmission gear is connected to the other shaft end through a tooth shape, and when the connecting cylindrical gear rotates, it rotates according to the contact situation to drive the shaft and the sleeve to rotate.

[0038] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A flexible mechanical arm with a connecting rod type inter-arm steering module based on a tape spring, characterized in that: It includes a robot arm body and a steering mechanism. The robot arm body includes a load-bearing platform, an extension and retraction module and a tape spring. The load-bearing platform is connected to the tape spring through the extension and retraction module, and the tape spring is connected to the robot arm through the steering mechanism. By extending and contracting the tape spring, the robot arm can be extended a certain distance or contracted to a specified position; the steering mechanism is composed of a node module and a directional module installed on the node module, which is used to change the bending node of the robot arm and the bending angle of the robot arm. Through the combination of the robot arm body and the steering mechanism, the robot arm can quickly reach the specified position to realize the grasping, carrying or manipulation functions.

2. The flexible mechanical arm with a connecting rod type inter-arm steering module based on a tape spring according to claim 1, characterized in that: The directional module consists of a connecting rod and a connecting frame, which are used to control the tape spring to turn in a specified direction; wherein, the two ends of the connecting rod are respectively connected to one side of the node and the corresponding side of the connecting frame; the connecting frame is an "H" structure, and the tape spring passes through the holes opened at both ends.

3. The flexible mechanical arm with a connecting rod type inter-arm steering module based on a tape spring according to claim 2, characterized in that: The "H" structure of the connecting frame adopts an H-shaped sleeve. The outer extensions of the two ends of the H-shaped sleeve 1 are connected to four connecting rods by bolts respectively. A connecting rod is installed at both ends of each node module. On the vertical plane, the node module, the connecting rod and the H-shaped sleeve form a parallelogram connecting rod structure frame. When the node module moves, the connecting rod and the H-shaped sleeve also move accordingly.

4. The flexible mechanical arm with a link-type inter-arm steering module based on a tape spring according to claim 1, characterized in that: The node module and the directional module in the steering mechanism connect the nodes on both sides of the tape spring together to form a "parallelogram" connecting rod frame; by controlling the nodes on both sides to move in different directions, a position difference is formed, so that the connecting frame and the connecting rod rotate, thereby controlling the steering of the robotic arm.

5. The flexible mechanical arm with a link-type inter-arm steering module based on a tape spring according to claim 1, characterized in that: The node module consists of a roller, a node motor, a roller shaft, a node frame, a driving gear and a driven gear. Two rollers are arranged inside the node frame. The two rollers are connected to the driving gear and the driven gear through their respective roller shafts. The node motor is connected to the driving gear, and the driving gear is meshed and connected to the driven gear. The tape spring passes through the middle of the two rollers in the node frame and forms a plane at their contact surface.

6. The flexible mechanical arm with a connecting rod type inter-arm steering module based on a tape spring according to claim 1, characterized in that: An auxiliary compression mechanism, an active extension mechanism, a storage bin, a block mechanism and a tape measure spring are respectively arranged on the bearing platform of the robot arm body from back to front. The auxiliary compression mechanism and the active extension mechanism are fixed on the bearing platform. One end of the tape measure spring is fixed on the belt end block, and the other end is fixed in the storage bin after passing through the roller of the active extension mechanism and the rotating cylinder of the auxiliary compression mechanism.

7. The flexible mechanical arm with a link-type inter-arm steering module based on a tape spring according to claim 6, characterized in that: The active extension mechanism consists of a motor, gears, shafts and rollers, wherein the motor is connected to two rollers through gears and shafts, and the friction force of the two rollers squeezing the tape spring is used to control the tape spring to roll out freely in one direction, either upward or downward.

8. The flexible mechanical arm with a link-type inter-arm steering module based on a tape spring according to claim 6, characterized in that: The auxiliary compression mechanism is composed of a coupling plate, a motor, a bearing seat, a steel belt drum and a rotating shaft, wherein the motor and the bearing seat are installed on the storage bin, the motor is connected to the steel belt drum and the coupling plate through the rotating shaft, and the coupling plate installs the steel belt drum on the rotating end surface; when the robot arm needs to be retracted, the auxiliary compression mechanism provides additional pulling force, while ensuring that the tape measure spring can be retracted around the drum.

9. The flexible mechanical arm with a link-type inter-arm steering module based on a tape spring according to claim 6, characterized in that: The block mechanism includes a band end block and an extended end block, wherein the band end block is a square mechanism used to fix the end of the tape measure spring in a specific area of ​​the storage bin; the extended end block is an irregular mechanism with an extended end, in which an elliptical hole is opened; the extended end block is installed at the extended end of the storage bin, and the tape measure spring is located in the center hole and enters the storage bin through the reel.

10. The flexible mechanical arm with a connecting rod type inter-arm steering module based on a tape spring according to claim 1, characterized in that: The tape measure spring is an irregular elliptical structure. The steel ruler is made into a component, and some materials are filled in the middle to ensure the bendability of the steel ruler. The tape measure spring can be compressed in the roll silo inside the main body of the robotic arm.

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